Industrial robot

专利摘要:
Multi-axial industrial robot having a compact modular design for the drive system, which can be varied in numerous ways. The robot comprises a mount (1), on which is supported, in a pivoting manner, a moving arm (7) and, pivoting on the latter, an extension (9). The modular construction is achieved by the fact that the pivot drive (26) for the extension (9) as well as the pivot drive (16) for the moving arm (7) itself are arranged in the arm (7). Preferably the complete drives (16, 26) are arranged in the moving arm (7), and only their driven elements (21, 31) project. The driven elements (21, 31) are centrally located and connected firmly in rotation with the mount (1) and the extension (9). As a result the moving arm (7) rotates around the stationary driven member (21) in relation to the housing. The drives (16, 26) consist each of a motor (11, 13) and a two-stage toothed belt drive (17, 20 and 27, 30) the second stage being also formed of a toothed belt drive.
公开号:SU1471938A3
申请号:SU864028109
申请日:1986-08-27
公开日:1989-04-07
发明作者:Циммер Эрнст；Людвиг Биндер Карл
申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
IPC主号:

专利说明:

S / 5
.
/ Ch /
15
FIG. 2
nineteen
go
21
N. Tupitsa
chd
48 FIG. 6
Compiled by C, Novik Tehred L. Serdyukova Corrector, Shekmar
ten
Hhh
S2 50

权利要求:
Claims (11)
[1]
Claim
1. An industrial robot for various target applications, comprising a stand mounted on it with the possibility of swinging from the first drive with the engine cross beam, an arrow mounted on the cross beam with the possibility of rotation from the second drive. with the engine, and the engine is second. The drive axle is located on the traverse, and the traverse with the boom and the load is balanced relative to its rotation axis, characterized in that, in order to improve the dynamic characteristics due to the mass distribution of the drives relative to the balancing axis, the traverse swing drive is located on this traverse, and the driven link of this drive has the ability to rotate relative to the axis of swing of the beam, located in the additionally introduced bearing of the beam and is rigidly connected to the rack.
[2]
2. The industrial robot according to claim 1, with the fact that the swing drives of the beam and boom are placed in the body of the beam, and their output links protrude outward.
[3]
3. The industrial robot according to claims 1 and 2, characterized in that the output links of the traverse and boom swing drives are each made in the form of a gear with a flange having a U center hole and are connected respectively to the strut and boom by means of screws.
[4]
4. The industrial robot according to claims 1 to 3, characterized in that the 15 drives for swinging the beam and boom each have at least a two-stage gear, and at least the first stage is made in the form of a belt-gear transmission. ' 2Q
[5]
5. The industrial robot according to claim 1, characterized in that the gears are made in the form of two-stage gear-belt gears and the corresponding steps of both gears are sequentially located in the same plane, with each gear having an intermediate shaft.
[6]
6. The industrial robot according to claim 5, characterized in that 3θ on the intermediate shafts are additionally introduced displacement sensors designed to control the swing drives of the beam and boom. .
„·
[7]
7. Industrial robot according to claim 4. .
- - .....
characterized in that each second gear stage is made in the form of a gear transmission and is equipped with a device for compensating ₄ Q of the play in gear engagement with small gears divided and strained against each other by twisting.
[8]
8. The industrial robot according to claims 1-7, ... characterized in that the output links of the swing drives of the beam and boom are hollow.
[9]
9. The industrial robot according to claim 1,
o.with. that the 50 'traverse is cantilevered to the rack, and the boom is attached to the traverse.
[10]
10. The industrial robot according to claim 9, characterized in that the mounting points of the rack and boom are
55 are placed on one side of the beam, and drive motors on the opposite side of the beam.
[11]
11. Industrial robot according to ππ.ΐτ 10, characterized in that the boom is equipped with fan-shaped mounted actuators for driving motor motors with additional axes located along the boom located in the boom. axes, and these rocking planes
Fng 2
Ph. B

类似技术:

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SU1471938A3|1989-04-07|Industrial robot

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KR920006657B1|1992-08-14|Articulated robot

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US4361055A|1982-11-30|Torque converter

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同族专利:

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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DE3447701A|DE3447701C2|1984-12-28|1984-12-28|

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